Cooperative Multi-Robot Information Acquisition based on Distributed Robust Model Predictive Control
Shuhei Emoto, Ilge Akkaya, Edward A. Lee

Citation
Shuhei Emoto, Ilge Akkaya, Edward A. Lee. "Cooperative Multi-Robot Information Acquisition based on Distributed Robust Model Predictive Control". submitted to 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 9, October, 2016.

Abstract
In this paper, we propose a multi-robot control system working in dynamic and uncertain environments. Robust model predictive control (robust MPC) enables robots to deal with uncertainties. However, the performance of the robust MPC is dependent on the amount of uncertainty that derives from noisy measurements, communication disturbance, etc. The proposed system includes multiple observation robots that gather information cooperatively as well as a main robot controlled by robust MPC. Therefore, the system works for not only treating the uncertainty but also decreasing it. A simulation result of a collision avoidance shows that the information acquisition by the observation robots enables the main robot to move efficiently and arrive at the goal faster than a case without the observation robots. Furthermore, simulation results under various conditions on a disturbance level and a measurement range of sensors clarifies an adequate number of observation robots as well as the design guide about sensors and networks.

Electronic downloads

Internal. This publication has been marked by the author for TerraSwarm-only distribution, so electronic downloads are not available without logging in.

Citation formats

• HTML

  Shuhei Emoto, Ilge Akkaya, Edward A. Lee. <a
  href="http://www.terraswarm.org/pubs/745.html"
  >Cooperative Multi-Robot Information Acquisition based on
  Distributed Robust Model Predictive Control</a>,
  submitted to 2016 IEEE/RSJ International Conference on
  Intelligent Robots and Systems, 9, October, 2016.

• Plain text

  Shuhei Emoto, Ilge Akkaya, Edward A. Lee. "Cooperative
  Multi-Robot Information Acquisition based on Distributed
  Robust Model Predictive Control". submitted to 2016
  IEEE/RSJ International Conference on Intelligent Robots and
  Systems, 9, October, 2016.

• BibTeX

  @inproceedings{EmotoAkkayaLee16_CooperativeMultiRobotInformationAcquisitionBasedOnDistributed,
      author = {Shuhei Emoto and Ilge Akkaya and Edward A. Lee},
      title = {Cooperative Multi-Robot Information Acquisition
                based on Distributed Robust Model Predictive
                Control},
      booktitle = {submitted to 2016 IEEE/RSJ International
                Conference on Intelligent Robots and Systems},
      day = {9},
      month = {October},
      year = {2016},
      abstract = {In this paper, we propose a multi-robot control
                system working in dynamic and uncertain
                environments. Robust model predictive control
                (robust MPC) enables robots to deal with
                uncertainties. However, the performance of the
                robust MPC is dependent on the amount of
                uncertainty that derives from noisy measurements,
                communication disturbance, etc. The proposed
                system includes multiple observation robots that
                gather information cooperatively as well as a main
                robot controlled by robust MPC. Therefore, the
                system works for not only treating the uncertainty
                but also decreasing it. A simulation result of a
                collision avoidance shows that the information
                acquisition by the observation robots enables the
                main robot to move efficiently and arrive at the
                goal faster than a case without the observation
                robots. Furthermore, simulation results under
                various conditions on a disturbance level and a
                measurement range of sensors clarifies an adequate
                number of observation robots as well as the design
                guide about sensors and networks.},
      URL = {http://terraswarm.org/pubs/745.html}
  }
  

Posted by Elizabeth Coyne on 29 Feb 2016.
Groups: pw